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<h1>can.c</h1><a href="can_8c.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*********************************************************************************</span>
<a name="l00002"></a>00002 <span class="comment"></span>
<a name="l00003"></a>00003 <span class="comment"> Copyright 2006 MakingThings</span>
<a name="l00004"></a>00004 <span class="comment"></span>
<a name="l00005"></a>00005 <span class="comment"> Licensed under the Apache License, </span>
<a name="l00006"></a>00006 <span class="comment"> Version 2.0 (the "License"); you may not use this file except in compliance </span>
<a name="l00007"></a>00007 <span class="comment"> with the License. You may obtain a copy of the License at</span>
<a name="l00008"></a>00008 <span class="comment"></span>
<a name="l00009"></a>00009 <span class="comment"> http://www.apache.org/licenses/LICENSE-2.0 </span>
<a name="l00010"></a>00010 <span class="comment"> </span>
<a name="l00011"></a>00011 <span class="comment"> Unless required by applicable law or agreed to in writing, software distributed</span>
<a name="l00012"></a>00012 <span class="comment"> under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR</span>
<a name="l00013"></a>00013 <span class="comment"> CONDITIONS OF ANY KIND, either express or implied. See the License for</span>
<a name="l00014"></a>00014 <span class="comment"> the specific language governing permissions and limitations under the License.</span>
<a name="l00015"></a>00015 <span class="comment"></span>
<a name="l00016"></a>00016 <span class="comment">*********************************************************************************/</span>
<a name="l00017"></a>00017 
<a name="l00018"></a>00018 <span class="comment">// MakingThings - Make Controller Board - 2006</span>
<a name="l00019"></a>00019 <span class="comment"></span>
<a name="l00020"></a>00020 <span class="comment">/** \file can.c </span>
<a name="l00021"></a>00021 <span class="comment">  CAN - Control Area Network.</span>
<a name="l00022"></a>00022 <span class="comment">  Functions for interacting with the CAN Network.</span>
<a name="l00023"></a>00023 <span class="comment"></span>
<a name="l00024"></a>00024 <span class="comment">  Note this subsystem is not implemented</span>
<a name="l00025"></a>00025 <span class="comment">*/</span>
<a name="l00026"></a>00026 
<a name="l00027"></a>00027 <span class="comment">/* Library includes. */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#include &lt;string.h&gt;</span>
<a name="l00029"></a>00029 <span class="preprocessor">#include &lt;stdio.h&gt;</span>
<a name="l00030"></a>00030 
<a name="l00031"></a>00031 <span class="comment">/* Scheduler includes. */</span>
<a name="l00032"></a>00032 <span class="preprocessor">#include "FreeRTOS.h"</span>
<a name="l00033"></a>00033 <span class="preprocessor">#include "task.h"</span>
<a name="l00034"></a>00034 <span class="preprocessor">#include "semphr.h"</span>
<a name="l00035"></a>00035 
<a name="l00036"></a>00036 <span class="comment">/* Hardware specific headers. */</span>
<a name="l00037"></a>00037 <span class="preprocessor">#include "Board.h"</span>
<a name="l00038"></a>00038 <span class="preprocessor">#include "AT91SAM7X256.h"</span>
<a name="l00039"></a>00039 
<a name="l00040"></a>00040 <span class="preprocessor">#include "config.h"</span>
<a name="l00041"></a>00041 
<a name="l00042"></a>00042 <span class="preprocessor">#include "io.h"</span>
<a name="l00043"></a>00043 
<a name="l00044"></a>00044 <span class="preprocessor">#include "can.h"</span>
<a name="l00045"></a>00045 <span class="preprocessor">#include "can_internal.h"</span>
<a name="l00046"></a>00046 
<a name="l00047"></a>00047 
<a name="l00048"></a>00048 <span class="comment">// CAN DISABLE</span>
<a name="l00049"></a>00049 <span class="preprocessor">#if ( CONTROLLER_VERSION == 50 )</span>
<a name="l00050"></a>00050 <span class="preprocessor"></span><span class="preprocessor">  #define CAN_ENABLE IO_PA02</span>
<a name="l00051"></a>00051 <span class="preprocessor"></span><span class="preprocessor">  #define CAN_RX     IO_PA19</span>
<a name="l00052"></a>00052 <span class="preprocessor"></span><span class="preprocessor">  #define CAN_TX     IO_PA20</span>
<a name="l00053"></a>00053 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00054"></a>00054 <span class="preprocessor"></span><span class="preprocessor">#if ( CONTROLLER_VERSION == 90 )</span>
<a name="l00055"></a>00055 <span class="preprocessor"></span><span class="preprocessor">  #define CAN_ENABLE IO_PB16</span>
<a name="l00056"></a>00056 <span class="preprocessor"></span><span class="preprocessor">  #define CAN_RX     IO_PA19</span>
<a name="l00057"></a>00057 <span class="preprocessor"></span><span class="preprocessor">  #define CAN_TX     IO_PA20</span>
<a name="l00058"></a>00058 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00059"></a>00059 <span class="preprocessor"></span><span class="preprocessor">#if ( CONTROLLER_VERSION == 95 || CONTROLLER_VERSION == 100 )</span>
<a name="l00060"></a>00060 <span class="preprocessor"></span><span class="preprocessor">  #define CAN_ENABLE IO_PA07</span>
<a name="l00061"></a>00061 <span class="preprocessor"></span><span class="preprocessor">  #define CAN_RX     IO_PA19</span>
<a name="l00062"></a>00062 <span class="preprocessor"></span><span class="preprocessor">  #define CAN_TX     IO_PA20</span>
<a name="l00063"></a>00063 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00064"></a>00064 <span class="preprocessor"></span>
<a name="l00065"></a>00065 <span class="keyword">static</span> <span class="keywordtype">int</span> Can_Start( <span class="keywordtype">void</span> );
<a name="l00066"></a>00066 <span class="keyword">static</span> <span class="keywordtype">int</span> Can_Stop( <span class="keywordtype">void</span> );
<a name="l00067"></a>00067 
<a name="l00068"></a>00068 <span class="keyword">static</span> <span class="keywordtype">int</span> Can_Init( <span class="keywordtype">void</span> );
<a name="l00069"></a>00069 
<a name="l00070"></a>00070 <span class="keyword">extern</span> void ( CanIsr_Wrapper )( void );
<a name="l00071"></a>00071 
<a name="l00072"></a>00072 <span class="keyword">struct </span>Can_ Can;
<a name="l00073"></a>00073 <span class="comment"></span>
<a name="l00074"></a>00074 <span class="comment">/** \defgroup Can</span>
<a name="l00075"></a>00075 <span class="comment">* The CAN (Controller Area Network) subsystem allows for fast and reliable board-to-board communication.</span>
<a name="l00076"></a>00076 <span class="comment">* \ingroup Controller</span>
<a name="l00077"></a>00077 <span class="comment">* @{</span>
<a name="l00078"></a>00078 <span class="comment">*/</span>
<a name="l00079"></a>00079 <span class="comment"></span>
<a name="l00080"></a>00080 <span class="comment">/**</span>
<a name="l00081"></a>00081 <span class="comment">  Sets whether the CAN subsystem is active.</span>
<a name="l00082"></a>00082 <span class="comment">  @param state An integer specifying the active state - 1 (on) or 0 (off).</span>
<a name="l00083"></a>00083 <span class="comment">  @return 0 on success.</span>
<a name="l00084"></a>00084 <span class="comment">*/</span>
<a name="l00085"></a><a class="code" href="group___can.html#g923a37648972de9afa23d088f7119f2d">00085</a> <span class="keywordtype">int</span> <a class="code" href="group___can.html#g923a37648972de9afa23d088f7119f2d" title="Sets whether the CAN subsystem is active.">Can_SetActive</a>( <span class="keywordtype">int</span> state )
<a name="l00086"></a>00086 {
<a name="l00087"></a>00087   <span class="keywordflow">if</span> ( state )
<a name="l00088"></a>00088     <span class="keywordflow">return</span> Can_Start( );
<a name="l00089"></a>00089   <span class="keywordflow">else</span>
<a name="l00090"></a>00090     <span class="keywordflow">return</span> Can_Stop( );
<a name="l00091"></a>00091 }
<a name="l00092"></a>00092 <span class="comment"></span>
<a name="l00093"></a>00093 <span class="comment">/**</span>
<a name="l00094"></a>00094 <span class="comment">  Returns the active state of the CAN subsystem.</span>
<a name="l00095"></a>00095 <span class="comment">  @return State - 1/non-zero (on) or 0 (off).</span>
<a name="l00096"></a>00096 <span class="comment">*/</span>
<a name="l00097"></a><a class="code" href="group___can.html#g43e2fe76a7166a9d43198b93fd4153c0">00097</a> <span class="keywordtype">int</span> <a class="code" href="group___can.html#g43e2fe76a7166a9d43198b93fd4153c0" title="Returns the active state of the CAN subsystem.">Can_GetActive</a>( )
<a name="l00098"></a>00098 {
<a name="l00099"></a>00099   <span class="keywordflow">return</span> Can.users &gt; 0;
<a name="l00100"></a>00100 }
<a name="l00101"></a>00101 <span class="comment"></span>
<a name="l00102"></a>00102 <span class="comment">/** </span>
<a name="l00103"></a>00103 <span class="comment">  Send a CAN message.</span>
<a name="l00104"></a>00104 <span class="comment">  @param id An integer specifying the message ID.</span>
<a name="l00105"></a>00105 <span class="comment">  @param message A pointer to the message to be sent.</span>
<a name="l00106"></a>00106 <span class="comment">  @param count ???</span>
<a name="l00107"></a>00107 <span class="comment">  @return Status - 0 on success.</span>
<a name="l00108"></a>00108 <span class="comment">*/</span>
<a name="l00109"></a><a class="code" href="group___can.html#g44566743e11133ebeff143578603cf0d">00109</a> <span class="keywordtype">int</span> <a class="code" href="group___can.html#g44566743e11133ebeff143578603cf0d" title="Send a CAN message.">Can_SendMessage</a>( <span class="keywordtype">int</span> <span class="keywordtype">id</span>, <span class="keywordtype">char</span>* message, <span class="keywordtype">int</span> count )
<a name="l00110"></a>00110 {
<a name="l00111"></a>00111   (void)<span class="keywordtype">id</span>;
<a name="l00112"></a>00112   (void)message;
<a name="l00113"></a>00113   (void)count;
<a name="l00114"></a>00114 
<a name="l00115"></a>00115   <span class="keywordflow">if</span> ( Can.users &lt; 1 )
<a name="l00116"></a>00116   {
<a name="l00117"></a>00117     <span class="keywordtype">int</span> status = Can_Start( );
<a name="l00118"></a>00118     <span class="keywordflow">if</span> ( status != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00119"></a>00119       <span class="keywordflow">return</span> status;
<a name="l00120"></a>00120   }
<a name="l00121"></a>00121 
<a name="l00122"></a>00122   <span class="keywordtype">int</span> value = 0;
<a name="l00123"></a>00123 
<a name="l00124"></a>00124   <span class="keywordtype">int</span> i;
<a name="l00125"></a>00125   <span class="keywordtype">int</span> j;
<a name="l00126"></a>00126 
<a name="l00127"></a>00127   <span class="keywordflow">for</span> ( i = 0; i &lt; 20; i++ )
<a name="l00128"></a>00128   {
<a name="l00129"></a>00129     <a class="code" href="group___io.html#g31c976a85de4306c66be6b4c441d3892" title="Turn an IO line on or off.">Io_SetValue</a>( CAN_TX, 1 );
<a name="l00130"></a>00130     <span class="keywordflow">for</span> ( j = 0; j &lt; 100; j++ )
<a name="l00131"></a>00131       ;
<a name="l00132"></a>00132     <a class="code" href="group___io.html#g31c976a85de4306c66be6b4c441d3892" title="Turn an IO line on or off.">Io_SetValue</a>( CAN_TX, 0 );
<a name="l00133"></a>00133     <span class="keywordflow">for</span> ( j = 0; j &lt; 100; j++ )
<a name="l00134"></a>00134       ;
<a name="l00135"></a>00135   }
<a name="l00136"></a>00136 
<a name="l00137"></a>00137 <span class="comment">/*</span>
<a name="l00138"></a>00138 <span class="comment">  // This is the semaphore that lets only one instance get messages at a time</span>
<a name="l00139"></a>00139 <span class="comment">  if ( !xSemaphoreTake( Can.semaphore, 1000 ) )</span>
<a name="l00140"></a>00140 <span class="comment">    return CONTROLLER_ERROR_CANT_LOCK;</span>
<a name="l00141"></a>00141 <span class="comment"></span>
<a name="l00142"></a>00142 <span class="comment">  // start the business</span>
<a name="l00143"></a>00143 <span class="comment"></span>
<a name="l00144"></a>00144 <span class="comment">  // Busy wait - nah </span>
<a name="l00145"></a>00145 <span class="comment">  // while ( !( AT91C_BASE_ADC-&gt;ADC_CHSR  &amp; ( 1 &lt;&lt; index ) ) );</span>
<a name="l00146"></a>00146 <span class="comment"></span>
<a name="l00147"></a>00147 <span class="comment">  // This is the semaphore that signals that it's done</span>
<a name="l00148"></a>00148 <span class="comment">  if ( !xSemaphoreTake( Can.doneSemaphore, 1000 ) )</span>
<a name="l00149"></a>00149 <span class="comment">    return CONTROLLER_ERROR_TIMEOUT;</span>
<a name="l00150"></a>00150 <span class="comment"></span>
<a name="l00151"></a>00151 <span class="comment">  // extract the message</span>
<a name="l00152"></a>00152 <span class="comment"></span>
<a name="l00153"></a>00153 <span class="comment">  xSemaphoreGive( Can.semaphore );</span>
<a name="l00154"></a>00154 <span class="comment"></span>
<a name="l00155"></a>00155 <span class="comment"></span>
<a name="l00156"></a>00156 <span class="comment"> // Disable mailbox 0</span>
<a name="l00157"></a>00157 <span class="comment">  AT91C_BASE_CAN-&gt;CAN_MB0.CAN_MB_MMR = AT91C_CAN_MOT_DIS;  </span>
<a name="l00158"></a>00158 <span class="comment"></span>
<a name="l00159"></a>00159 <span class="comment">    // Set ID to send</span>
<a name="l00160"></a>00160 <span class="comment">  AT91C_BASE_CAN-&gt;CAN_MB0.CAN_MB_MID = ( ( 0x55 &lt;&lt; 18 ) &amp; AT91C_CAN_MIDvA );</span>
<a name="l00161"></a>00161 <span class="comment"></span>
<a name="l00162"></a>00162 <span class="comment"> // Set mailbox 0 up as a transmitter</span>
<a name="l00163"></a>00163 <span class="comment">  AT91C_BASE_CAN-&gt;CAN_MB0.CAN_MB_MMR = AT91C_CAN_MOT_TX;  </span>
<a name="l00164"></a>00164 <span class="comment"></span>
<a name="l00165"></a>00165 <span class="comment">  // Set the length, and transmit</span>
<a name="l00166"></a>00166 <span class="comment">  AT91C_BASE_CAN-&gt;CAN_MB0.CAN_MB_MCR = ( ( 0x4 &lt;&lt; 16 ) &amp; AT91C_CAN_MDLC ) || AT91C_CAN_MTCR;</span>
<a name="l00167"></a>00167 <span class="comment"></span>
<a name="l00168"></a>00168 <span class="comment">  while ( !AT91C_BASE_CAN-&gt;CAN_MB0.CAN_MB_MSR &amp; AT91C_CAN_MRDY )</span>
<a name="l00169"></a>00169 <span class="comment">    ;</span>
<a name="l00170"></a>00170 <span class="comment">*/</span>
<a name="l00171"></a>00171   <span class="keywordflow">return</span> value;
<a name="l00172"></a>00172 }
<a name="l00173"></a>00173 <span class="comment"></span>
<a name="l00174"></a>00174 <span class="comment">/** </span>
<a name="l00175"></a>00175 <span class="comment">  Receive a CAN message.</span>
<a name="l00176"></a>00176 <span class="comment">  @param id An integer specifying the message ID.</span>
<a name="l00177"></a>00177 <span class="comment">  @param message A pointer to where the message should be saved.</span>
<a name="l00178"></a>00178 <span class="comment">  @param count ???</span>
<a name="l00179"></a>00179 <span class="comment">  @return Status - 0 on success.</span>
<a name="l00180"></a>00180 <span class="comment">*/</span>
<a name="l00181"></a><a class="code" href="group___can.html#g351753c401cb4412f1be95b5de5b94bf">00181</a> <span class="keywordtype">int</span> <a class="code" href="group___can.html#g351753c401cb4412f1be95b5de5b94bf" title="Receive a CAN message.">Can_GetMessage</a>( <span class="keywordtype">int</span>* <span class="keywordtype">id</span>, <span class="keywordtype">char</span>* message, <span class="keywordtype">int</span>* count )
<a name="l00182"></a>00182 {
<a name="l00183"></a>00183   (void)<span class="keywordtype">id</span>;
<a name="l00184"></a>00184   (void)message;
<a name="l00185"></a>00185   (void)count;
<a name="l00186"></a>00186 
<a name="l00187"></a>00187   <span class="keywordflow">if</span> ( Can.users &lt; 1 )
<a name="l00188"></a>00188   {
<a name="l00189"></a>00189     <span class="keywordtype">int</span> status = Can_Start( );
<a name="l00190"></a>00190     <span class="keywordflow">if</span> ( status != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00191"></a>00191       <span class="keywordflow">return</span> status;
<a name="l00192"></a>00192   }
<a name="l00193"></a>00193 
<a name="l00194"></a>00194   <span class="keywordtype">int</span> value = 0;
<a name="l00195"></a>00195 
<a name="l00196"></a>00196   <span class="comment">// This is the semaphore that lets only one instance get messages at a time</span>
<a name="l00197"></a>00197   <span class="keywordflow">if</span> ( !xSemaphoreTake( Can.semaphore, 1000 ) )
<a name="l00198"></a>00198     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g5317aab1608afa7507da0214aec0dbab" title="Can&amp;#39;t get a lock on a resource.">CONTROLLER_ERROR_CANT_LOCK</a>;
<a name="l00199"></a>00199 
<a name="l00200"></a>00200   <span class="comment">// start the business</span>
<a name="l00201"></a>00201 
<a name="l00202"></a>00202   <span class="comment">/* Busy wait - nah */</span>
<a name="l00203"></a>00203   <span class="comment">// while ( !( AT91C_BASE_ADC-&gt;ADC_CHSR  &amp; ( 1 &lt;&lt; index ) ) );</span>
<a name="l00204"></a>00204 
<a name="l00205"></a>00205   <span class="comment">// This is the semaphore that signals that it's done</span>
<a name="l00206"></a>00206   <span class="keywordflow">if</span> ( !xSemaphoreTake( Can.doneSemaphore, 1000 ) )
<a name="l00207"></a>00207     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g5c95f2b95962f5011be19d6be2f71e57" title="The operation has timed out.">CONTROLLER_ERROR_TIMEOUT</a>;
<a name="l00208"></a>00208 
<a name="l00209"></a>00209   <span class="comment">// extract the message</span>
<a name="l00210"></a>00210 
<a name="l00211"></a>00211   xSemaphoreGive( Can.semaphore );
<a name="l00212"></a>00212 
<a name="l00213"></a>00213   <span class="keywordflow">return</span> value;
<a name="l00214"></a>00214 }
<a name="l00215"></a>00215 <span class="comment"></span>
<a name="l00216"></a>00216 <span class="comment">/** @}</span>
<a name="l00217"></a>00217 <span class="comment">*/</span>
<a name="l00218"></a>00218 
<a name="l00219"></a>00219 <span class="keywordtype">int</span> Can_Start()
<a name="l00220"></a>00220 {
<a name="l00221"></a>00221   <span class="comment">// int status;</span>
<a name="l00222"></a>00222   <span class="keywordflow">if</span> ( Can.users++ == 0 )
<a name="l00223"></a>00223   {
<a name="l00224"></a>00224     Can_Init();
<a name="l00225"></a>00225   }
<a name="l00226"></a>00226   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00227"></a>00227 }
<a name="l00228"></a>00228 
<a name="l00229"></a>00229 <span class="keywordtype">int</span> Can_Stop()
<a name="l00230"></a>00230 {
<a name="l00231"></a>00231   <span class="keywordflow">if</span> ( Can.users &lt;= 0 )
<a name="l00232"></a>00232     <span class="keywordflow">return</span> <a class="code" href="group___error.html#gbe5b0c7c2a59668cdeb433375f091c2a" title="This resource has already been stopped too many times.">CONTROLLER_ERROR_TOO_MANY_STOPS</a>;
<a name="l00233"></a>00233   
<a name="l00234"></a>00234   <span class="keywordflow">if</span> ( --Can.users == 0 )
<a name="l00235"></a>00235     Can_Stop();
<a name="l00236"></a>00236 
<a name="l00237"></a>00237   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00238"></a>00238 }
<a name="l00239"></a>00239 
<a name="l00240"></a>00240 <span class="keywordtype">int</span> Can_Init()
<a name="l00241"></a>00241 {
<a name="l00242"></a>00242   <span class="comment">// Try to lock the enable pin</span>
<a name="l00243"></a>00243   <span class="keywordtype">int</span> status = Io_Start( CAN_ENABLE, <span class="keyword">true</span> );
<a name="l00244"></a>00244   <span class="keywordflow">if</span> ( status != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00245"></a>00245     <span class="keywordflow">return</span> status;
<a name="l00246"></a>00246 
<a name="l00247"></a>00247   <span class="comment">// Try to lock the tx pin</span>
<a name="l00248"></a>00248   status = Io_Start( CAN_TX, <span class="keyword">true</span> );
<a name="l00249"></a>00249   <span class="keywordflow">if</span> ( status != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00250"></a>00250   {
<a name="l00251"></a>00251     Io_Stop( CAN_ENABLE );
<a name="l00252"></a>00252     <span class="keywordflow">return</span> status;
<a name="l00253"></a>00253   }
<a name="l00254"></a>00254 
<a name="l00255"></a>00255   <span class="comment">// Try to lock the rx pin</span>
<a name="l00256"></a>00256   status = Io_Start( CAN_RX, <span class="keyword">true</span> );
<a name="l00257"></a>00257   <span class="keywordflow">if</span> ( status != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00258"></a>00258   {
<a name="l00259"></a>00259     Io_Stop( CAN_ENABLE );
<a name="l00260"></a>00260     Io_Stop( CAN_TX );
<a name="l00261"></a>00261     <span class="keywordflow">return</span> status;
<a name="l00262"></a>00262   }
<a name="l00263"></a>00263 
<a name="l00264"></a>00264   Io_SetOutput( CAN_TX );
<a name="l00265"></a>00265   Io_SetInput( CAN_RX );
<a name="l00266"></a>00266   Io_PullupDisable( CAN_RX );
<a name="l00267"></a>00267 
<a name="l00268"></a>00268   Io_SetOutput( CAN_ENABLE );
<a name="l00269"></a>00269   <a class="code" href="group___io.html#g31c976a85de4306c66be6b4c441d3892" title="Turn an IO line on or off.">Io_SetValue</a>( CAN_ENABLE, <span class="keyword">false</span> );
<a name="l00270"></a>00270 
<a name="l00271"></a>00271 <span class="comment">/*</span>
<a name="l00272"></a>00272 <span class="comment">  // Enable the peripheral clock</span>
<a name="l00273"></a>00273 <span class="comment">  AT91C_BASE_PMC-&gt;PMC_PCER = 1 &lt;&lt; AT91C_ID_CAN;</span>
<a name="l00274"></a>00274 <span class="comment"></span>
<a name="l00275"></a>00275 <span class="comment">  // Make sure the pins are running on the right peripheral (A in this case)</span>
<a name="l00276"></a>00276 <span class="comment">  Io_SetPeripheralA( CAN_TX );</span>
<a name="l00277"></a>00277 <span class="comment">  Io_SetPeripheralA( CAN_RX );</span>
<a name="l00278"></a>00278 <span class="comment"></span>
<a name="l00279"></a>00279 <span class="comment">  Io_SetOutput( CAN_ENABLE );</span>
<a name="l00280"></a>00280 <span class="comment">  Io_SetValue( CAN_ENABLE, false );</span>
<a name="l00281"></a>00281 <span class="comment"></span>
<a name="l00282"></a>00282 <span class="comment">  // Set some random bit timing up.</span>
<a name="l00283"></a>00283 <span class="comment">  AT91C_BASE_CAN-&gt;CAN_BR = 0x0053255;</span>
<a name="l00284"></a>00284 <span class="comment">    </span>
<a name="l00285"></a>00285 <span class="comment">  // Enable the CAN system</span>
<a name="l00286"></a>00286 <span class="comment">  AT91C_BASE_CAN-&gt;CAN_MR = AT91C_CAN_CANEN;</span>
<a name="l00287"></a>00287 <span class="comment"></span>
<a name="l00288"></a>00288 <span class="comment">  // Do the OS stuff</span>
<a name="l00289"></a>00289 <span class="comment">  vSemaphoreCreateBinary( Can.semaphore );</span>
<a name="l00290"></a>00290 <span class="comment"></span>
<a name="l00291"></a>00291 <span class="comment">  // Create the sempahore that will be used to wake the calling process up </span>
<a name="l00292"></a>00292 <span class="comment">  vSemaphoreCreateBinary( Can.doneSemaphore );</span>
<a name="l00293"></a>00293 <span class="comment">  xSemaphoreTake( Can.doneSemaphore, 0 );</span>
<a name="l00294"></a>00294 <span class="comment"></span>
<a name="l00295"></a>00295 <span class="comment">  // Do the hardware init</span>
<a name="l00296"></a>00296 <span class="comment"></span>
<a name="l00297"></a>00297 <span class="comment">  // Initialize the interrupts</span>
<a name="l00298"></a>00298 <span class="comment"></span>
<a name="l00299"></a>00299 <span class="comment">  // WAS AT91F_AIC_ConfigureIt( AT91C_ID_ADC, 3, AT91C_AIC_SRCTYPE_INT_HIGH_LEVEL, ( void (*)( void ) ) CanIsr_Wrapper );</span>
<a name="l00300"></a>00300 <span class="comment">  // Which is defined at the bottom of the AT91SAM7X256.h file</span>
<a name="l00301"></a>00301 <span class="comment">  unsigned int mask ;                         </span>
<a name="l00302"></a>00302 <span class="comment">                                      </span>
<a name="l00303"></a>00303 <span class="comment">  mask = 0x1 &lt;&lt; AT91C_ID_CAN;   </span>
<a name="l00304"></a>00304 <span class="comment">                        </span>
<a name="l00305"></a>00305 <span class="comment">  // Disable the interrupt on the interrupt controller          </span>
<a name="l00306"></a>00306 <span class="comment">  AT91C_BASE_AIC-&gt;AIC_IDCR = mask ;                   </span>
<a name="l00307"></a>00307 <span class="comment">  // Save the interrupt handler routine pointer and the interrupt priority</span>
<a name="l00308"></a>00308 <span class="comment">  AT91C_BASE_AIC-&gt;AIC_SVR[ AT91C_ID_CAN ] = (unsigned int)CanIsr_Wrapper;     </span>
<a name="l00309"></a>00309 <span class="comment">  // Store the Source Mode Register   </span>
<a name="l00310"></a>00310 <span class="comment">  AT91C_BASE_AIC-&gt;AIC_SMR[ AT91C_ID_CAN ] = AT91C_AIC_SRCTYPE_INT_HIGH_LEVEL | 4  ;       </span>
<a name="l00311"></a>00311 <span class="comment">  // Clear the interrupt on the interrupt controller</span>
<a name="l00312"></a>00312 <span class="comment">  AT91C_BASE_AIC-&gt;AIC_ICCR = mask ;         </span>
<a name="l00313"></a>00313 <span class="comment"></span>
<a name="l00314"></a>00314 <span class="comment">  // AT91C_BASE_AIC-&gt;CAN_IER = 0; // AT91C_ADC_DRDY; </span>
<a name="l00315"></a>00315 <span class="comment"></span>
<a name="l00316"></a>00316 <span class="comment">  AT91C_BASE_AIC-&gt;AIC_IECR = mask;</span>
<a name="l00317"></a>00317 <span class="comment">*/</span>
<a name="l00318"></a>00318 
<a name="l00319"></a>00319   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00320"></a>00320 }
<a name="l00321"></a>00321 
<a name="l00322"></a>00322 <span class="preprocessor">#ifdef OSC</span>
<a name="l00323"></a>00323 <span class="preprocessor"></span>
<a name="l00324"></a>00324 <span class="preprocessor">#include "osc.h"</span>
<a name="l00325"></a>00325 <span class="preprocessor">#include "string.h"</span>
<a name="l00326"></a>00326 <span class="preprocessor">#include "stdio.h"</span>
<a name="l00327"></a>00327 
<a name="l00328"></a>00328 <span class="comment">// Need a list of property names</span>
<a name="l00329"></a>00329 <span class="comment">// MUST end in zero</span>
<a name="l00330"></a>00330 <span class="keyword">static</span> <span class="keywordtype">char</span>* CanOsc_Name = <span class="stringliteral">"can"</span>;
<a name="l00331"></a>00331 <span class="keyword">static</span> <span class="keywordtype">char</span>* CanOsc_PropertyNames[] = { <span class="stringliteral">"active"</span>, <span class="stringliteral">"value"</span>, 0 }; <span class="comment">// must have a trailing 0</span>
<a name="l00332"></a>00332 
<a name="l00333"></a>00333 <span class="keywordtype">int</span> CanOsc_PropertySet( <span class="keywordtype">int</span> property, <span class="keywordtype">int</span> value );
<a name="l00334"></a>00334 <span class="keywordtype">int</span> CanOsc_PropertyGet( <span class="keywordtype">int</span> property );
<a name="l00335"></a>00335 
<a name="l00336"></a>00336 <span class="comment">// Returns the name of the subsystem</span>
<a name="l00337"></a>00337 <span class="keyword">const</span> <span class="keywordtype">char</span>* CanOsc_GetName( )
<a name="l00338"></a>00338 {
<a name="l00339"></a>00339   <span class="keywordflow">return</span> CanOsc_Name;
<a name="l00340"></a>00340 }
<a name="l00341"></a>00341 
<a name="l00342"></a>00342 <span class="comment">// Now getting a message.  This is actually a part message, with the first</span>
<a name="l00343"></a>00343 <span class="comment">// part (the subsystem) already parsed off.</span>
<a name="l00344"></a>00344 <span class="keywordtype">int</span> CanOsc_ReceiveMessage( <span class="keywordtype">int</span> channel, <span class="keywordtype">char</span>* message, <span class="keywordtype">int</span> length )
<a name="l00345"></a>00345 {
<a name="l00346"></a>00346   <span class="keywordtype">int</span> status = <a class="code" href="group___o_s_c_a_p_i.html#g9331ca23d8e81ba91c4e728f0470627e" title="Receive an integer for a subsystem with no indexes.">Osc_IntReceiverHelper</a>( channel, message, length, 
<a name="l00347"></a>00347                                       CanOsc_Name,
<a name="l00348"></a>00348                                       CanOsc_PropertySet, CanOsc_PropertyGet, 
<a name="l00349"></a>00349                                       CanOsc_PropertyNames );
<a name="l00350"></a>00350 
<a name="l00351"></a>00351   <span class="comment">// the can system is complex it will need another kind of helper - one that</span>
<a name="l00352"></a>00352   <span class="comment">// can handle</span>
<a name="l00353"></a>00353   <span class="comment">//     /can/active 1  as well as</span>
<a name="l00354"></a>00354   <span class="comment">//     /can/0/id 21213</span>
<a name="l00355"></a>00355   <span class="comment">// also the can getters and setters will need to be able to handle complex data</span>
<a name="l00356"></a>00356 
<a name="l00357"></a>00357   <span class="keywordflow">if</span> ( status != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00358"></a>00358     <span class="keywordflow">return</span> Osc_SendError( channel, CanOsc_Name, status );
<a name="l00359"></a>00359   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00360"></a>00360 }
<a name="l00361"></a>00361 
<a name="l00362"></a>00362 <span class="comment">// Set the index LED, property with the value</span>
<a name="l00363"></a>00363 <span class="keywordtype">int</span> CanOsc_PropertySet( <span class="keywordtype">int</span> property, <span class="keywordtype">int</span> value )
<a name="l00364"></a>00364 {
<a name="l00365"></a>00365   <span class="keywordflow">switch</span> ( property )
<a name="l00366"></a>00366   {
<a name="l00367"></a>00367     <span class="keywordflow">case</span> 0: 
<a name="l00368"></a>00368       <a class="code" href="group___can.html#g923a37648972de9afa23d088f7119f2d" title="Sets whether the CAN subsystem is active.">Can_SetActive</a>( value );
<a name="l00369"></a>00369       <span class="keywordflow">break</span>;      
<a name="l00370"></a>00370   }
<a name="l00371"></a>00371   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00372"></a>00372 }
<a name="l00373"></a>00373 
<a name="l00374"></a>00374 <span class="comment">// Get the property</span>
<a name="l00375"></a>00375 <span class="keywordtype">int</span> CanOsc_PropertyGet( <span class="keywordtype">int</span> property )
<a name="l00376"></a>00376 {
<a name="l00377"></a>00377   <span class="keywordtype">int</span> value = 0;
<a name="l00378"></a>00378   <span class="keywordflow">switch</span> ( property )
<a name="l00379"></a>00379   {
<a name="l00380"></a>00380     <span class="keywordflow">case</span> 0:
<a name="l00381"></a>00381       value = <a class="code" href="group___can.html#g43e2fe76a7166a9d43198b93fd4153c0" title="Returns the active state of the CAN subsystem.">Can_GetActive</a>( );
<a name="l00382"></a>00382       <span class="keywordflow">break</span>;
<a name="l00383"></a>00383   }
<a name="l00384"></a>00384   
<a name="l00385"></a>00385   <span class="keywordflow">return</span> value;
<a name="l00386"></a>00386 }
<a name="l00387"></a>00387 
<a name="l00388"></a>00388 <span class="preprocessor">#endif // OSC</span>
<a name="l00389"></a>00389 <span class="preprocessor"></span>
<a name="l00390"></a>00390 
<a name="l00391"></a>00391 
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  <p class="footer">The Make Controller Kit is an open source project maintained by <a href="http://www.makingthings.com">MakingThings</a>.<br />
    MakingThings code is released under the <a href="http://www.apache.org/licenses/LICENSE-2.0.html" target="_blank">Apache 2.0 license</a>.<br />
    Bug tracker, development wiki and status can be found at <a href="http://dev.makingthings.com">http://dev.makingthings.com</a>.<br />
		This document was last updated on 5 Dec 2007.
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